CN112896044A - Backing system and method based on laser structure grating grid image analysis - Google Patents
Backing system and method based on laser structure grating grid image analysis Download PDFInfo
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- CN112896044A CN112896044A CN202110043206.2A CN202110043206A CN112896044A CN 112896044 A CN112896044 A CN 112896044A CN 202110043206 A CN202110043206 A CN 202110043206A CN 112896044 A CN112896044 A CN 112896044A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
- B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
- B60R2300/8026—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views in addition to a rear-view mirror system
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Abstract
The invention provides a reversing system and a reversing method based on laser structure grating grid image analysis, which comprises the following steps: the laser source is used as an emitting light source to provide a light source for scanning the ground, the image acquisition and processing device is connected with the DSP controller, the DSP controller is connected with the alarm component, the image acquisition and processing device carries out image acquisition and processing on laser irradiated on the ground and transmits obtained image data to the DSP controller, the DSP controller judges whether the road surface is dangerous or not according to the image data, and if the road surface is dangerous, the alarm component is controlled to give an alarm. According to the reversing system and method based on the laser structure grating grid image analysis, the laser technology is applied to the reversing system, so that the obstacles higher than the ground and the gullies lower than the ground can be identified, and traffic accidents such as falling, mistaken falling and the like can be effectively reduced.
Description
Technical Field
The invention relates to the technical field of vehicle driving safety, in particular to a reversing system and a reversing method based on laser structure grating grid image analysis.
Background
Along with the rapid development of economy, the consumption level and the living standard of people are greatly improved, automobiles are more and more popularized, more and more people own the automobiles, and the safety problem of the automobiles is also concerned while the automobiles are comfortable and convenient.
Although the rear-view mirrors are arranged on the automobiles, a driver has blind areas to a greater or lesser extent, so that the driver installs a reversing radar for the automobile to ensure safety. The reversing radar mainly works by means of ultrasonic waves, the ultrasonic waves are transmitted by equipment to detect, the transmitted ultrasonic waves return when colliding with an object higher than the ground, and therefore the object blocked in the reversing direction is detected and an alarm signal is sent out. The disadvantage of the method is that the obstacle above the ground is needed, otherwise, the emitted ultrasonic wave cannot be reflected back to realize the alarm, for example, the alarm cannot be realized by using a reversing radar when a deep gully and a pothole below the ground are met. At present, a reversing system which can identify obstacles above the ground and potholes below the ground and the like is not provided, and therefore, the reversing system which can identify obstacles above the ground and potholes below the ground and the like is necessary to be designed.
Disclosure of Invention
The invention aims to provide a reversing system and a reversing method based on laser structure grating grid image analysis, wherein a laser technology is applied to the reversing system, so that obstacles higher than the ground and gullies lower than the ground can be identified, and traffic accidents such as falling, mistaken falling and the like can be effectively reduced.
In order to achieve the purpose, the invention provides the following scheme:
a backing system and method based on laser structure grating grid image analysis comprises the following steps: the laser source is used as an emitting light source to provide a light source for scanning the ground, the image acquisition and processing device is connected with the DSP controller, the DSP controller is connected with the alarm component, the image acquisition and processing device carries out image acquisition and processing on laser irradiated on the ground and transmits obtained image data to the DSP controller, the DSP controller judges whether the road surface is dangerous according to the data, and if the road surface is dangerous, the alarm component is controlled to give an alarm.
Optionally, the image collecting and processing device includes a CCD vision sensor, an optical filter and an a/D converter, the optical filter is used for filtering invisible light, the CCD vision sensor is connected to the a/D converter, the a/D converter is connected to the DSP controller, the CCD vision sensor is used for collecting an image of laser light on the ground and outputting the image to the a/D converter in the form of an analog signal, and the a/D converter is used for performing an a/D conversion to convert the analog signal into a digital signal and transmitting the digital signal to the DSP controller.
Optionally, the image acquisition processing device includes a camera and a decoding device, the camera is connected to the decoding device, the decoding device is connected to the DSP controller, the camera is used for image acquisition and transmits acquired information to the decoding device, and the decoding device is used for decoding received information and transmitting the information to the DSP controller.
Optionally, the laser source is a 650nm laser source.
Optionally, the alarm component is a buzzer, the buzzer is connected with the DSP controller, and the DSP controller controls the buzzer to alarm when there is a danger.
A reversing method based on laser structure grating grid image analysis is applied to a reversing system based on laser structure grating grid image analysis, and comprises the following steps:
step 1: scanning the ground by using laser, acquiring an image by using an image acquisition and processing device, establishing a grid map and analyzing the acquired image by using a DSP (digital signal processor) controller;
step 2: after finding the obstacles, carrying out cluster analysis in the transverse direction of the image by an obstacle clustering method, and adaptively selecting span according to a clustering result;
and step 3: and extracting the outline of the obstacle and the image characteristic parameters, comparing the image characteristic parameters with a threshold value, and controlling an alarm component to give an alarm by the DSP controller if the image characteristic parameters are greater than the threshold value.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: according to the reversing system and method based on the laser structure grating grid image analysis, the laser technology is applied to the reversing system, the problems that the existing reversing radar cannot identify pits and gullies lower than the ground are solved, and the traffic accidents such as falling and mistaken falling can be effectively reduced; two image acquisition processing devices are adopted, so that a CCD vision sensor can be used for carrying out image acquisition together with an optical filter and an A/D converter, and an existing camera can be used for carrying out image acquisition together with a decoding device; scanning the ground by 650nm laser, so that not only can obstacles above the ground be identified, but also hollow gullies below the ground can be identified; the DSP controller is matched with an image processing technology, so that the collected laser image can be identified, and the road danger can be distinguished; after the obstacle is found, the obstacle clustering method is adopted to perform clustering analysis on the image in the transverse direction, and then the span is selected in a self-adaptive manner according to the clustering analysis, so that the problems of inaccurate modeling and the like caused by the obstacle shielding are solved to a certain extent; the alarm part adopts a buzzer, and when danger occurs, the DSP controller controls the buzzer to give an alarm to a driver.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a frame diagram of a reversing system based on laser structure grating grid image analysis in an embodiment of the present invention;
FIG. 2 is a frame diagram of a reversing method based on laser structure grating grid image analysis according to an embodiment of the present invention;
FIG. 3 is a flowchart of a reverse method based on the analysis of the grating grid image of the laser structure according to an embodiment of the present invention;
fig. 4 is a schematic diagram of laser scanning.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a reversing system and a reversing method based on laser structure grating grid image analysis, wherein a laser technology is applied to the reversing system, so that obstacles higher than the ground and gullies lower than the ground can be identified, and traffic accidents such as falling, mistaken falling and the like can be effectively reduced.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 4, a reversing system and method based on laser structure grating grid image analysis provided in an embodiment of the present invention include: the laser source is used as an emitting light source to provide a light source for scanning the ground, light rays emitted by the laser source irradiate on the road surface of reversing driving, the laser can form different lines due to different conditions of the road surface, the image acquisition processing device is connected with the DSP controller, the DSP controller is connected with the alarm component, the image acquisition processing device acquires images of the laser irradiated on the ground, converts the acquired image data into a form suitable for processing in the DSP controller, transmits the converted image data to the DSP controller, and the DSP controller judges whether the road surface is dangerous or not according to the image data and controls the alarm component to give an alarm if the road surface is dangerous.
The reversing system based on the laser structure grating grid image analysis has two embodiments, wherein one embodiment is that the laser source is 650nm, the laser source is arranged at the tail of the vehicle, the image acquisition and processing device is selected from a CCD visual sensor, an optical filter and an A/D converter, the optical filter is arranged in front of the CCD visual sensor and can filter invisible light, the CCD visual sensor is connected with the A/D converter, the A/D converter is connected with the DSP controller, the DSP controller is connected with the alarm component, the alarm component is selected from a buzzer, the CCD visual sensor acquires images of laser on the ground and outputs the images to the A/D converter in the form of analog signals, and the A/D converter performs A/D conversion to convert the analog signals into digital signals and transmits the digital signals to the DSP controller, and the DSP controller analyzes and judges the obtained information, determines whether the current road is dangerous or not, and controls the buzzer to give an alarm if the current road is dangerous.
Another embodiment is: the laser source is 650nm, the laser source is arranged at the tail of a vehicle, the image acquisition and processing device is provided with a camera and a decoding device, the camera is connected with the decoding device, the decoding device is connected with the DSP controller, the DSP controller is connected with the alarm part, the alarm part is provided with a buzzer, the camera acquires images of laser irradiated on the ground, the acquired image data are transmitted to the decoding device, the decoding device decodes the received image data and transmits the decoded image data to the DSP controller, the DSP controller analyzes, processes and judges the received image data, and if the current road is dangerous, the buzzer is controlled to give an alarm.
A reversing method based on laser structure grating grid image analysis is applied to a reversing system based on laser structure grating grid image analysis, and comprises the following steps:
step 1: FIG. 4 is a schematic diagram of laser scanning, as shown in FIG. 4, using laser to scan the ground, collecting images through an image collecting and processing device, creating a grid map, and analyzing the collected images through a DSP controller;
step 2: after finding the obstacles, carrying out cluster analysis in the transverse direction of the image by an obstacle clustering method, and adaptively selecting span according to a clustering result;
and step 3: and extracting the outline of the obstacle and the image characteristic parameters, comparing the image characteristic parameters with a threshold value, and controlling an alarm component to give an alarm by the DSP controller if the image characteristic parameters are greater than the threshold value.
According to the reversing system and method based on the laser structure grating grid image analysis, the laser technology is applied to the reversing system, the problems that the existing reversing radar cannot identify pits and gullies lower than the ground are solved, and the traffic accidents such as falling and mistaken falling can be effectively reduced; two image acquisition processing devices are adopted, so that a CCD vision sensor can be used for carrying out image acquisition together with an optical filter and an A/D converter, and an existing camera can be used for carrying out image acquisition together with a decoding device; scanning the ground by 650nm laser, so that not only can obstacles above the ground be identified, but also hollow gullies below the ground can be identified; the DSP controller is matched with an image processing technology, so that the collected laser image can be identified, and the road danger can be distinguished; after the obstacle is found, the obstacle clustering method is adopted to perform clustering analysis on the image in the transverse direction, and then the span is selected in a self-adaptive manner according to the clustering analysis, so that the problems of inaccurate modeling and the like caused by the obstacle shielding are solved to a certain extent; the alarm part adopts a buzzer, and when danger occurs, the DSP controller controls the buzzer to give an alarm to a driver.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. The utility model provides a system of backing a car based on laser structure grating grid image analysis which characterized in that includes: the laser source is used as an emitting light source to provide a light source for scanning the ground, the image acquisition and processing device is connected with the DSP controller, the DSP controller is connected with the alarm component, the image acquisition and processing device carries out image acquisition and processing on laser irradiated on the ground and transmits obtained image data to the DSP controller, the DSP controller judges whether the road surface is dangerous or not according to the image data, and if the road surface is dangerous, the alarm component is controlled to give an alarm.
2. The reversing system based on the laser structure grating grid image analysis as claimed in claim 1, wherein the image acquisition and processing device comprises a CCD vision sensor, an optical filter and an a/D converter, the optical filter is used for filtering invisible light, the CCD vision sensor is connected with the a/D converter, the a/D converter is connected with the DSP controller, the CCD vision sensor is used for image acquisition of laser on the ground and outputting the laser to the a/D converter in the form of analog signals, and the a/D converter is used for performing a/D conversion to convert the analog signals into digital signals and transmitting the digital signals to the DSP controller.
3. The reversing system based on the laser structure grating grid image analysis as claimed in claim 1, wherein the image acquisition processing device comprises a camera and a decoding device, the camera is connected with the decoding device, the decoding device is connected with the DSP controller, the camera is used for image acquisition and transmits acquired information to the decoding device, and the decoding device is used for decoding received information and transmitting the received information to the DSP controller.
4. The reversing system based on the laser structure grating grid image analysis as claimed in claim 1, wherein the laser source is a 650nm laser source, and the laser source is arranged at the tail of a vehicle.
5. The reversing system based on the laser structure grating grid image analysis as claimed in claim 1, wherein the alarm component is a buzzer, the buzzer is connected with the DSP controller, and the DSP controller controls the buzzer to alarm when there is danger.
6. A reversing method based on laser structure grating grid image analysis is characterized in that the reversing method is applied to the reversing system based on laser structure grating grid image analysis in any one of claims 1 to 5, and comprises the following steps:
step 1: scanning the ground by using laser, acquiring an image by using an image acquisition and processing device, establishing a grid map and analyzing the acquired image by using a DSP (digital signal processor) controller;
step 2: after finding the obstacles, carrying out cluster analysis in the transverse direction of the image by an obstacle clustering method, and adaptively selecting span according to a clustering result;
and step 3: and extracting the outline of the obstacle and the image characteristic parameters, comparing the image characteristic parameters with a threshold value, and controlling an alarm component to give an alarm by the DSP controller if the image characteristic parameters are greater than the threshold value.
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| CN202110043206.2A CN112896044A (en) | 2021-01-13 | 2021-01-13 | Backing system and method based on laser structure grating grid image analysis |
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| CN202110043206.2A CN112896044A (en) | 2021-01-13 | 2021-01-13 | Backing system and method based on laser structure grating grid image analysis |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538766A (en) * | 2011-12-21 | 2012-07-04 | 武汉科技大学 | Obstacle test method for active intelligent vehicle |
| CN104574365A (en) * | 2014-12-18 | 2015-04-29 | 中国科学院计算技术研究所 | Barrier detection device and method |
| CN104742830A (en) * | 2015-04-20 | 2015-07-01 | 吉林大学 | Laser grid based road surface monitoring system |
| US20170313247A1 (en) * | 2016-04-28 | 2017-11-02 | H.P.B Optoelectronic Co., Ltd | Vehicle safety system |
| CN109131075A (en) * | 2018-09-19 | 2019-01-04 | 安徽工程大学 | A kind of back-up alarm based on image procossing |
| CN211527320U (en) * | 2020-03-04 | 2020-09-18 | 沈阳天眼智云信息科技有限公司 | Automobile-used laser figure surveys barrier device |
-
2021
- 2021-01-13 CN CN202110043206.2A patent/CN112896044A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102538766A (en) * | 2011-12-21 | 2012-07-04 | 武汉科技大学 | Obstacle test method for active intelligent vehicle |
| CN104574365A (en) * | 2014-12-18 | 2015-04-29 | 中国科学院计算技术研究所 | Barrier detection device and method |
| CN104742830A (en) * | 2015-04-20 | 2015-07-01 | 吉林大学 | Laser grid based road surface monitoring system |
| US20170313247A1 (en) * | 2016-04-28 | 2017-11-02 | H.P.B Optoelectronic Co., Ltd | Vehicle safety system |
| CN109131075A (en) * | 2018-09-19 | 2019-01-04 | 安徽工程大学 | A kind of back-up alarm based on image procossing |
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Application publication date: 20210604 |